ESP32 Axidraw PCB & Firmware

I need a complete electronics solution that can replace the original EBB board on an Axidraw-style writing machine. The job covers both hardware and software.

Hardware scope
• Design a compact, two-axis motor-control PCB built around an ESP32.
• Integrate two stepper-motor drivers capable of smooth, quiet motion at plotting speeds.
• Provide a reliable USB interface for host control and firmware updates.
• Include all required power-management, end-stop, and pen-lifter circuitry so the board can drop straight into an existing Axidraw frame.
• Deliver production-ready assets: schematic (PDF & source), PCB layout, Gerber/Drill files, BOM with part numbers, and a brief assembly guide.

Firmware scope
• Develop firmware that exposes Axidraw-compatible commands over USB—ideally mimicking the original EBB protocol so it works out of the box with Inkscape and existing plotter scripts.
• Implement acceleration profiles, homing routines, and pen-up/pen-down sequencing.
• Provide source code (PlatformIO / Arduino-ESP32 or ESP-IDF), well-commented, with build instructions.
• Include a simple desktop test utility or example Python script that sends a demo plot to verify operation.

Acceptance
The board should drive two NEMA-17 steppers and a micro-servo smoothly, execute an SVG test file without missed steps, and enumerate as a USB device on Windows, macOS, and Linux.

If you have prior experience with motion-control firmware or have built plotters/CNC controllers on ESP32, I’d love to see examples when you bid.